How do you write/hack a program/driver/firmware to allow control of rotation and laser duty?

I am interested to know if A) there are easy MMC commands to set a certain RPM speed of the CD/DVD drive, and B) if there is a similar command for setting the power or duty cycle of the laser diode.

If these are not able to be done with the MMC commands, then how do I hack the firmware to let me control these functions? Laser focus would also be great, as well as the fine and coarse adjustments for adjusting the laser linearly.

You may like to start reading the MMC ( i recommend v5)
http://www.13thmonkey.org/documentation/SCSI/

Enjoy

was reading that, didn’t look like it had those features/capability… that’s why I am thinking I might need to go more low-level, either hacking firmware, or just replacing the electronics in total.